Initial compass emu support. Impliment compass related api func symbo…

…ls, compass service, and qemu endpoints

config.mk

@@ -117,6 +117,7 @@ SRCS_all += rcore/rebble_util.c
 SRCS_all += rcore/qemu.c
 SRCS_all += rcore/qemu_endpoints.c
 SRCS_all += rcore/service.c
+SRCS_all += rcore/compass.c
 
 SRCS_all += rcore/protocol/protocol_notification.c
 SRCS_all += rcore/protocol/protocol_system.c
@@ -126,6 +127,7 @@ SRCS_all += rcore/protocol/protocol_blob.c
 SRCS_all += rcore/protocol/protocol_call.c
 SRCS_all += rcore/protocol/protocol_music.c
 SRCS_all += rcore/protocol/protocol_transfer.c
+SRCS_all += rcore/protocol/protocol_compass.c
 
 SRCS_all += rcore/rdb.c
 SRCS_all += rcore/rdb_test.c
@@ -154,6 +156,7 @@ SRCS_all += rwatch/graphics/font_loader.c
 SRCS_all += rwatch/event/tick_timer_service.c
 SRCS_all += rwatch/event/app_timer.c
 SRCS_all += rwatch/event/battery_state_service.c
+SRCS_all += rwatch/event/compass_service.c
 SRCS_all += rwatch/event/connection_service.c
 SRCS_all += rwatch/event/event_service.c
 SRCS_all += rwatch/ui/layer/status_bar_layer.c

rcore/api_func_symbols.h

@@ -7,6 +7,7 @@
 #include "inverter_layer.h"
 #include "storage_persist.h"
 #include "dictionary.h"
+#include "compass_service.h"
 
 GBitmap *gbitmap_create_with_resource_proxy(uint32_t resource_id);
 
@@ -122,10 +123,6 @@ UNIMPL(_app_worker_message_unsubscribe);
 UNIMPL(_app_worker_send_message);
 UNIMPL(_worker_event_loop);
 UNIMPL(_worker_launch_app);
-UNIMPL(_compass_service_peek);
-UNIMPL(_compass_service_set_heading_filter);
-UNIMPL(_compass_service_subscribe);
-UNIMPL(_compass_service_unsubscribe);
 UNIMPL(_animation_legacy2_set_custom_curve);
 UNIMPL(_watch_info_get_color);
 UNIMPL(_watch_info_get_firmware_version);
@@ -472,6 +469,11 @@ const VoidFunc sym[] = {
     [335] = (VoidFunc)app_heap_bytes_free,                                                     // heap_bytes_free@0000053c
     [336] = (VoidFunc)app_heap_bytes_used,                                                     // heap_bytes_used@00000540
 
+    [337] = (VoidFunc)compass_service_peek,                                                 // compass_service_peek@00000544
+    [338] = (VoidFunc)compass_service_set_heading_filter,                                   // compass_service_set_heading_filter@00000548
+    [339] = (VoidFunc)compass_service_subscribe,                                            // compass_service_subscribe@0000054c
+    [340] = (VoidFunc)compass_service_unsubscribe,                                          // compass_service_unsubscribe@00000550
+
     [341] = (VoidFunc)uuid_equal,                                                              // uuid_equal@00000554
     [342] = (VoidFunc)uuid_to_string,                                                          // uuid_to_string@00000558
     [343] = (VoidFunc)gpath_fill_app,                                                          // gpath_draw_filled@0000055c
@@ -795,10 +797,7 @@ const VoidFunc sym[] = {
     [332] = (UnimplFunc)_app_worker_send_message,                                              // app_worker_send_message@00000530
     [333] = (UnimplFunc)_worker_event_loop,                                                    // worker_event_loop@00000534
     [334] = (UnimplFunc)_worker_launch_app,                                                    // worker_launch_app@00000538
-    [337] = (UnimplFunc)_compass_service_peek,                                                 // compass_service_peek@00000544
-    [338] = (UnimplFunc)_compass_service_set_heading_filter,                                   // compass_service_set_heading_filter@00000548
-    [339] = (UnimplFunc)_compass_service_subscribe,                                            // compass_service_subscribe@0000054c
-    [340] = (UnimplFunc)_compass_service_unsubscribe,                                          // compass_service_unsubscribe@00000550
+
     [344] = (UnimplFunc)_animation_legacy2_set_custom_curve,                                   // animation_legacy2_set_custom_curve@00000560
     [345] = (UnimplFunc)_watch_info_get_color,                                                 // watch_info_get_color@00000564
     [346] = (UnimplFunc)_watch_info_get_firmware_version,                                      // watch_info_get_firmware_version@00000568

rcore/compass.c

@@ -0,0 +1,53 @@
+/* compass.c
+ * routines for controlling the compass (accelerometer + magnetometer)
+ * RebbleOS
+ *
+ * Author: Taylor E. <taylor@stanivision.com>
+ */
+
+#include "compass.h"
+#include "rebbleos.h"
+#include "compass_service.h"
+
+static uint8_t _calibration_mode = 0;
+static int32_t _compass_heading = 0;
+static int32_t _compass_heading_filter = (TRIG_MAX_ANGLE / 360);
+
+void compass_init() {
+
+}
+
+void compass_off() {
+
+}
+
+uint8_t compass_get_calibration_mode(void) {
+    return _calibration_mode;
+}
+
+int32_t compass_get_heading(void) {
+    return _compass_heading;
+}
+
+int32_t compass_get_heading_filter(void) {
+    return _compass_heading_filter;
+}
+
+// These set functions have been put here so the Compass Emu protocol can update the Compass' values (this was made first).
+// However these functions probably shouldn't exist, as this file should be polling hardware to get latest values, not having hardware
+// push to this file...
+
+void compass_set_calibration_mode(uint8_t new_compass_calibration_mode) {
+    _calibration_mode = new_compass_calibration_mode;
+    compass_service_state_change();
+}
+
+void compass_set_heading(int32_t new_compass_heading) {
+    _compass_heading = new_compass_heading;
+    compass_service_state_change();
+}
+
+void compass_set_heading_filter(int32_t new_compass_heading_filter) {
+    _compass_heading_filter = new_compass_heading_filter;
+    compass_service_state_change();
+}

rcore/compass.h

@@ -0,0 +1,31 @@
+#pragma once
+/* compass.c
+ * routines for controlling the compass (accelerometer + magnetometer)
+ * RebbleOS
+ *
+ * Author: Taylor E. <taylor@stanivision.com>
+ */
+
+#include "FreeRTOS.h"
+
+/**
+ *  @brief Compass calibration modes.
+*/
+#define COMPASS_CAL_STATUS_UNAVAILABLE  0
+#define COMPASS_CAL_STATUS_DATA_INVALID 1
+#define COMPASS_CAL_STATUS_CALIBRATING  2
+#define COMPASS_CAL_STATUS_CALIBRATED   3
+
+void compass_init(void);
+
+void compass_off(void);
+
+uint8_t compass_get_calibration_mode(void);
+
+int32_t compass_get_heading(void);
+
+int32_t compass_get_heading_filter(void);
+
+void compass_set_heading_filter(int32_t new_compass_heading_filter);
+void compass_set_calibration_mode(uint8_t new_compass_calibration_mode);
+void compass_set_heading(int32_t new_compass_heading);

rcore/protocol/protocol_compass.c

@@ -0,0 +1,28 @@
+/* protocol_compass.c
+ * R/Pebble Protocol Compass requests.
+ * libRebbleOS
+ *
+ * Author: Taylor E. <taylor@stanivision.com>
+ */
+#include "rebbleos.h"
+#include "protocol.h"
+#include "protocol_service.h"
+#include "compass_service.h"
+/* Configure Logging */
+#define MODULE_NAME "pcolcompass"
+#define MODULE_TYPE "SYS"
+#define LOG_LEVEL RBL_LOG_LEVEL_DEBUG //RBL_LOG_LEVEL_ERROR
+
+typedef struct qemu_compass_t {
+    uint32_t heading;
+    uint8_t calibrated;
+} __attribute__((__packed__)) qemu_compass;
+
+void protocol_compass_handler(const RebblePacket packet)
+{
+    qemu_compass *qemu_compass_payload = (qemu_compass *) packet_get_data(packet);
+    qemu_compass_payload->heading = ntohl(qemu_compass_payload->heading);
+
+    compass_set_calibration_mode(qemu_compass_payload->calibrated);
+    compass_set_heading(qemu_compass_payload->heading);
+}

rcore/protocol/protocol_compass.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include "protocol.h"
+
+void protocol_compass_handler(const RebblePacket packet);

rcore/qemu_endpoints.c

@@ -5,6 +5,7 @@
 #include "test.h"
 #include "protocol_service.h"
 #include "rebble_memory.h"
+#include "protocol_compass.h"
 
 void other_handler(const RebblePacket incoming_packet)
 {
@@ -37,5 +38,9 @@ const PebbleEndpoint qemu_endpoints[] =
         .endpoint = QemuProtocol_BluetoothConnection,
         .handler = other_handler
     },
+    {
+        .endpoint = QemuProtocol_Compass,
+        .handler = protocol_compass_handler
+    },
     { .handler = NULL }
 };

rcore/rebbleos.c

@@ -19,6 +19,7 @@
 #include "rtoswrap.h"
 #include "test.h"
 #include "service.h"
+#include "compass.h"
 
 typedef uint8_t (*mod_callback)(void);
 // static TaskHandle_t _os_task;

rwatch/event/compass_service.c

@@ -0,0 +1,50 @@
+/* routines that implement the PebbleOS compass api
+ * libRebbleOS
+ *
+ * Author: Taylor E. <taylor@stanivision.com>
+ *
+ */
+
+#include "librebble.h"
+#include "compass_service.h"
+
+static CompassHeadingHandler _state_handler;
+
+int compass_service_set_heading_filter(CompassHeading filter) {
+    if (filter < 0 || filter > (TRIG_MAX_ANGLE / 2)) {
+        return -1;
+    }
+    else {
+        compass_set_heading_filter(filter);
+        return 0;
+    }
+
+}
+
+void compass_service_subscribe(CompassHeadingHandler handler) {
+    _state_handler = handler;
+}
+
+void compass_service_unsubscribe(void) {
+    _state_handler = NULL;
+}
+
+int compass_service_peek(CompassHeadingData * data) {
+    data->magnetic_heading = compass_get_heading();
+    data->true_heading = compass_get_heading();
+    data->compass_status = compass_get_calibration_mode();
+    data->is_declination_valid = false;
+
+    return 0;
+}
+
+void compass_service_state_change(void)
+{
+    SYS_LOG("COMP", APP_LOG_LEVEL_INFO, "Update");
+
+    CompassHeadingData new_compass_heading_data;
+    compass_service_peek(&new_compass_heading_data);
+
+    if (_state_handler != NULL)
+        _state_handler(new_compass_heading_data);
+}

rwatch/event/compass_service.h

@@ -0,0 +1,38 @@
+/* routines that implement the PebbleOS compass api
+*/
+
+/**
+ * @brief Represents an angle relative to get to a reference direction, e.g. (magnetic) north. The angle value is scaled linearly, such that a value of TRIG_MAX_ANGLE corresponds to 360 degrees or 2 PI radians. Thus, if heading towards north, north is 0, west is TRIG_MAX_ANGLE/4, south is TRIG_MAX_ANGLE/2, and so on.
+*/
+typedef int32_t CompassHeading;
+
+typedef enum {
+    CompassStatusUnavailable,   /* The Compass Service is unavailable. */
+    CompassStatusDataInvalid,   /* Compass is calibrating: data is invalid and should not be used Data will become valid once calibration is complete. */
+    CompassStatusCalibrating,   /* Compass is calibrating: the data is valid but the calibration is still being refined. */
+    CompassStatusCalibrated     /* Compass data is valid and the calibration has completed. */
+} CompassStatus;
+
+typedef struct {
+    CompassHeading magnetic_heading;    /* Measured angle that increases counter-clockwise from magnetic north (use int clockwise_heading = TRIG_MAX_ANGLE - heading_data.magnetic_heading; for example to find your heading clockwise from magnetic north). */
+    CompassHeading true_heading;        /* Currently same value as magnetic_heading (reserved for future implementation). */
+    CompassStatus compass_status;       /* Indicates the current state of the Compass Service calibration. */
+    bool is_declination_valid;          /* Currently always false (reserved for future implementation). */
+} CompassHeadingData;
+
+/**
+ * @brief Callback type for compass heading events.
+ * @param heading A copy of last recorded heading.
+*/
+typedef void(* CompassHeadingHandler)(CompassHeadingData heading);
+
+int compass_service_set_heading_filter(CompassHeading filter);
+
+void compass_service_subscribe(CompassHeadingHandler handler);
+
+void compass_service_unsubscribe(void);
+
+int compass_service_peek(CompassHeadingData * data);
+
+void compass_service_hw_state_change(void);
+void compass_service_emu_state_change(CompassHeadingData emu_data);

rwatch/pebble.h

@@ -27,6 +27,8 @@
 
 #define TRIG_MAX_RATIO 0xffff
 #define TRIG_MAX_ANGLE 0x10000
+#define TRIANGLE_TO_DEG(trig_angle) (trig_angle) * 360 / TRIG_MAX_ANGLE
+#define DEG_TO_TRIGANGLE(angle) (angle) * TRIG_MAX_ANGLE / 360
 
 struct n_GRect;